Namespaces
namespace	detail_any

namespace	serialization

Classes
class	AllowedCollisionMatrix

struct	ambiguate

struct	AnyPoly

class	BytesResource

struct	CalibrationInfo
	The CalibrationInfo struct. More...

struct	ClassLoader
	This is a wrapper around Boost DLL for loading plugins within Tesseract. More...

class	CloneCache
	Used to create a cache of objects. More...

class	CollisionMarginData
	Stores information about how the margins allowed between collision objects. More...

struct	ContactManagersPluginInfo
	The contact managers plugin information structure. More...

class	GeneralResourceLocator
	A general resource loaders using environment variable. More...

struct	got_type

struct	got_type< A >

struct	has_member

class	JointState

class	JointTrajectory
	Represents a joint trajectory. More...

struct	KinematicLimits
	Store kinematic limits. More...

struct	KinematicsPluginInfo
	The kinematics plugin information structure. More...

struct	ManipulatorInfo
	Contains information about a robot manipulator. More...

struct	PairHash

struct	PluginInfo
	The Plugin Information struct. More...

struct	PluginInfoContainer

class	PluginLoader
	This is a utility class for loading plugins within Tesseract. More...

class	Resource
	Represents resource data available from a file or url. More...

class	ResourceLocator
	Abstract class for resource loaders. More...

struct	Serialization

struct	sig_check

class	SimpleLocatedResource
	Resource implementation for a local file. More...

struct	TaskComposerPluginInfo
	The task composer plugin information structure. More...

class	TesseractSupportResourceLocator
	Abstract class for resource loaders. More...

class	TestPluginBase

class	TestPluginMultiply

class	Timer
	A simple timer class leveraging chrono high resolution clock. More...

struct	TypeErasureBase

struct	TypeErasureInstance

struct	TypeErasureInstanceWrapper

struct	TypeErasureInterface
	This is the interface that all type erasures interfaces must inherit from. More...

Typedefs
using	AllowedCollisionEntries = std::unordered_map< tesseract_common::LinkNamesPair, std::string, tesseract_common::PairHash >

using	AnyPolyBase = tesseract_common::TypeErasureBase< TypeErasureInterface, detail_any::AnyInstance >

using	PairsCollisionMarginData = std::unordered_map< tesseract_common::LinkNamesPair, double, tesseract_common::PairHash >

using	SimpleResourceLocatorFn = std::function< std::string(const std::string &)>

template<typename T >
using	AlignedVector = std::vector< T, Eigen::aligned_allocator< T > >
	Enable easy switching to std::filesystem when available. More...

template<typename Key , typename Value >
using	AlignedMap = std::map< Key, Value, std::less< Key >, Eigen::aligned_allocator< std::pair< const Key, Value > > >

template<typename Key , typename Value >
using	AlignedUnorderedMap = std::unordered_map< Key, Value, std::hash< Key >, std::equal_to< Key >, Eigen::aligned_allocator< std::pair< const Key, Value > > >

using	VectorIsometry3d = AlignedVector< Eigen::Isometry3d >

using	VectorVector4d = AlignedVector< Eigen::Vector4d >

using	VectorVector3d = std::vector< Eigen::Vector3d >

using	VectorVector2d = AlignedVector< Eigen::Vector2d >

using	TransformMap = AlignedMap< std::string, Eigen::Isometry3d >

using	Toolpath = AlignedVector< VectorIsometry3d >

using	TrajArray = Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >

using	LinkNamesPair = std::pair< std::string, std::string >

using	PluginInfoMap = std::map< std::string, PluginInfo >
	A map of PluginInfo to user defined name. More...

Enumerations
enum class	CollisionMarginOverrideType { NONE , REPLACE , MODIFY , OVERRIDE_DEFAULT_MARGIN , OVERRIDE_PAIR_MARGIN , MODIFY_PAIR_MARGIN }
	Identifies how the provided contact margin data should be applied. More...

Functions
bool	operator== (const AllowedCollisionEntries &entries_1, const AllowedCollisionEntries &entries_2)

template<typename FloatType >
bool	isWithinPositionLimits (const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &joint_positions, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 > > &position_limits)
	Check if within position limits. More...

template<typename FloatType >
bool	satisfiesPositionLimits (const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &joint_positions, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 > > &position_limits, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &max_diff, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &max_rel_diff)
	Check if joint position is within bounds or relatively equal to a limit. More...

template<typename FloatType >
bool	satisfiesPositionLimits (const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &joint_positions, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 > > &position_limits, FloatType max_diff=static_cast< FloatType >(1e-6), FloatType max_rel_diff=std::numeric_limits< FloatType >::epsilon())
	Check if joint position is within bounds or relatively equal to a limit. More...

template<typename FloatType >
void	enforcePositionLimits (Eigen::Ref< Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > joint_positions, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 > > &position_limits)
	Enforce position to be within the provided limits. More...

std::set< std::string >	parseEnvironmentVariableList (const std::string &env_variable)

std::set< std::string >	getAllSearchPaths (const std::string &search_paths_env, const std::set< std::string > &existing_search_paths)

std::set< std::string >	getAllSearchLibraries (const std::string &search_libraries_env, const std::set< std::string > &existing_search_libraries)

std::set< std::string >	extractLibrariesWithFullPath (std::set< std::string > &library_names)
	This will remove libraries with full path in the provided library_names and return them. More...

LinkNamesPair	makeOrderedLinkPair (const std::string &link_name1, const std::string &link_name2)
	Create a pair of strings, where the pair.first is always <= pair.second. More...

void	makeOrderedLinkPair (LinkNamesPair &pair, const std::string &link_name1, const std::string &link_name2)
	Populate a pair of strings, where the pair.first is always <= pair.second. More...

template<typename SerializableType >
void	testSerialization (const SerializableType &object, const std::string &typename_string)
	Tests Boost serialization for a serializable type. More...

template<typename SerializableType >
void	testSerializationPtr (const std::shared_ptr< SerializableType > &object, const std::string &typename_string)
	Tests Boost serialization of shared pointer for a serializable type. More...

template<typename SerializableTypeBase , typename SerializableTypeDerived >
void	testSerializationDerivedClass (const std::shared_ptr< SerializableTypeBase > &object, const std::string &typename_string)
	Tests Boost serialization for a serializable derived type. More...

template<typename... Args>
std::string	strFormat (const std::string &format, Args... args)

std::string	fileToString (const tesseract_common::fs::path &filepath)
	Read in the contents of the file into a string. More...

void	twistChangeRefPoint (Eigen::Ref< Eigen::VectorXd > twist, const Eigen::Ref< const Eigen::Vector3d > &ref_point)
	Change the reference point of the provided Twist. More...

void	twistChangeBase (Eigen::Ref< Eigen::VectorXd > twist, const Eigen::Isometry3d &change_base)
	Change the base coordinate system of the Twist. More...

void	jacobianChangeBase (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Isometry3d &change_base)
	Change the base coordinate system of the jacobian. More...

void	jacobianChangeRefPoint (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Ref< const Eigen::Vector3d > &ref_point)
	Change the reference point of the jacobian. More...

Eigen::VectorXd	concat (const Eigen::VectorXd &a, const Eigen::VectorXd &b)
	Concatenate two vector. More...

Eigen::Vector3d	calcRotationalError (const Eigen::Ref< const Eigen::Matrix3d > &R)
	Calculate the rotation error vector given a rotation error matrix where the angle is between [-pi, pi]. More...

Eigen::Vector3d	calcRotationalError2 (const Eigen::Ref< const Eigen::Matrix3d > &R)
	Calculate the rotation error vector given a rotation error matrix where the angle is between [0, 2 * pi]. More...

Eigen::VectorXd	calcTransformError (const Eigen::Isometry3d &t1, const Eigen::Isometry3d &t2)
	Calculate error between two transforms expressed in t1 coordinate system. More...

Eigen::Vector4d	computeRandomColor ()
	This computes a random color RGBA [0, 1] with alpha set to 1. More...

void	printNestedException (const std::exception &e, int level=0)
	Print a nested exception. More...

std::string	getTempPath ()
	Get the host temp directory path. More...

bool	isNumeric (const std::string &s)
	Determine if a string is a number. More...

bool	isNumeric (const std::vector< std::string > &sv)
	Determine if each string in vector is a number. More...

Eigen::VectorXd	generateRandomNumber (const Eigen::Ref< const Eigen::MatrixX2d > &limits)
	Given a set of limits it will generate a vector of random numbers between the limit. More...

void	ltrim (std::string &s)
	Left trim string. More...

void	rtrim (std::string &s)
	Right trim string. More...

void	trim (std::string &s)
	Trim left and right of string. More...

template<typename T >
bool	isIdentical (const std::vector< T > &vec1, const std::vector< T > &vec2, bool ordered=true, const std::function< bool(const T &, const T &)> &equal_pred=[](const T &v1, const T &v2) { return v1==v2;}, const std::function< bool(const T &, const T &)> &comp=[](const T &v1, const T &v2) { return v1< v2;})
	Check if two vector of strings are identical. More...

template<typename KeyValueContainerType , typename ValueType >
bool	isIdenticalMap (const KeyValueContainerType &map_1, const KeyValueContainerType &map_2, const std::function< bool(const ValueType &, const ValueType &)> &value_eq=[](const ValueType &v1, const ValueType &v2) { return v1==v2;})
	Checks if 2 maps are identical. More...

template<typename ValueType >
bool	isIdenticalSet (const std::set< ValueType > &set_1, const std::set< ValueType > &set_2, const std::function< bool(const ValueType &, const ValueType &)> &value_eq=[](const ValueType &v1, const ValueType &v2) { return v1==v2;})
	Checks if 2 sets are identical. More...

template<typename ValueType , std::size_t Size>
bool	isIdenticalArray (const std::array< ValueType, Size > &array_1, const std::array< ValueType, Size > &array_2, const std::function< bool(const ValueType &, const ValueType &)> &value_eq=[](const ValueType &v1, const ValueType &v2) { return v1==v2;})
	Checks if 2 arrays are identical. More...

template<typename T >
bool	pointersEqual (const std::shared_ptr< T > &p1, const std::shared_ptr< T > &p2)
	Checks if 2 pointers point to objects that are ==. More...

template<typename T >
bool	pointersComparison (const std::shared_ptr< T > &p1, const std::shared_ptr< T > &p2)
	Comparison operator for the objects 2 points point to. More...

std::string	getTimestampString ()
	Get Timestamp string. More...

void	reorder (Eigen::Ref< Eigen::VectorXd > v, std::vector< Eigen::Index > order)
	Reorder Eigen::VectorXd implace given index list. More...

tinyxml2::XMLError	QueryStringValue (const tinyxml2::XMLElement *xml_element, std::string &value)
	Query a string value from xml element. More...

tinyxml2::XMLError	QueryStringText (const tinyxml2::XMLElement *xml_element, std::string &text)
	Query a string Text from xml element. More...

tinyxml2::XMLError	QueryStringValue (const tinyxml2::XMLAttribute *xml_attribute, std::string &value)
	Query a string value from xml attribute. More...

tinyxml2::XMLError	QueryStringAttribute (const tinyxml2::XMLElement xml_element, const char name, std::string &value)
	Query a string attribute from an xml element. More...

std::string	StringAttribute (const tinyxml2::XMLElement xml_element, const char name, std::string default_value)
	Get string attribute if exist. If it does not exist it returns the default value. More...

tinyxml2::XMLError	QueryStringAttributeRequired (const tinyxml2::XMLElement xml_element, const char name, std::string &value)
	Query a string attribute from an xml element and print error log. More...

tinyxml2::XMLError	QueryDoubleAttributeRequired (const tinyxml2::XMLElement xml_element, const char name, double &value)
	Query a double attribute from an xml element and print error log. More...

tinyxml2::XMLError	QueryIntAttributeRequired (const tinyxml2::XMLElement xml_element, const char name, int &value)
	Query a int attribute from an xml element and print error log. More...

bool	almostEqualRelativeAndAbs (double a, double b, double max_diff=1e-6, double max_rel_diff=std::numeric_limits< double >::epsilon())
	Check if two double are relatively equal. More...

bool	almostEqualRelativeAndAbs (const Eigen::Ref< const Eigen::VectorXd > &v1, const Eigen::Ref< const Eigen::VectorXd > &v2, double max_diff=1e-6, double max_rel_diff=std::numeric_limits< double >::epsilon())
	Check if two Eigen VectorXd are relatively and absolute equal. More...

bool	almostEqualRelativeAndAbs (const Eigen::Ref< const Eigen::VectorXd > &v1, const Eigen::Ref< const Eigen::VectorXd > &v2, const Eigen::Ref< const Eigen::VectorXd > &max_diff, const Eigen::Ref< const Eigen::VectorXd > &max_rel_diff)
	Check if two Eigen VectorXd are relatively and absolute equal. More...

template<typename FloatType >
bool	toNumeric (const std::string &s, FloatType &value)
	Convert a string to a numeric value type. More...

std::vector< std::string >	getAllowedCollisions (const std::vector< std::string > &link_names, const AllowedCollisionEntries &acm_entries, bool remove_duplicates=true)
	Gets allowed collisions for a set of link names. More...

std::string	toYAMLString (const YAML::Node &node)
	Converts a YAML::Node to a yaml string. More...

YAML::Node	fromYAMLString (const std::string &string)
	Converts yaml string to a YAML::Node. More...

bool	compareYAML (const YAML::Node &node1, const YAML::Node &node2)
	Checks if the YAML::Nodes are identical. More...

template bool	isWithinPositionLimits< float > (const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 > > &joint_positions, const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 2 > > &position_limits)

template bool	isWithinPositionLimits< double > (const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 > > &joint_positions, const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 2 > > &position_limits)

template bool	satisfiesPositionLimits< float > (const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 > > &joint_positions, const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 2 > > &position_limits, float max_diff, float max_rel_diff)

template bool	satisfiesPositionLimits< double > (const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 > > &joint_positions, const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 2 > > &position_limits, double max_diff, double max_rel_diff)

template bool	satisfiesPositionLimits< float > (const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 > > &joint_positions, const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 2 > > &position_limits, const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 > > &max_diff, const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 > > &max_rel_diff)

template bool	satisfiesPositionLimits< double > (const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 > > &joint_positions, const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 2 > > &position_limits, const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 > > &max_diff, const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 > > &max_rel_diff)

template void	enforcePositionLimits< float > (Eigen::Ref< Eigen::Matrix< float, Eigen::Dynamic, 1 > > joint_positions, const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 2 > > &position_limits)

template void	enforcePositionLimits< double > (Eigen::Ref< Eigen::Matrix< double, Eigen::Dynamic, 1 > > joint_positions, const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 2 > > &position_limits)

template bool	toNumeric< double > (const std::string &, double &)

template bool	toNumeric< float > (const std::string &, float &)

template bool	toNumeric< int > (const std::string &, int &)

template bool	toNumeric< long > (const std::string &, long &)

template bool	isIdentical< std::string > (const std::vector< std::string > &, const std::vector< std::string > &, bool, const std::function< bool(const std::string &, const std::string &)> &, const std::function< bool(const std::string &, const std::string &)> &)

template bool	isIdentical< Eigen::Index > (const std::vector< Eigen::Index > &, const std::vector< Eigen::Index > &, bool, const std::function< bool(const Eigen::Index &, const Eigen::Index &)> &, const std::function< bool(const Eigen::Index &, const Eigen::Index &)> &)

template<typename E >
std::enable_if_t<!std::is_polymorphic< E >::value >	my_rethrow_if_nested (const E &)

template<typename E >
std::enable_if_t< std::is_polymorphic< E >::value >	my_rethrow_if_nested (const E &e)

Variables
static std::mt19937	mersenne { static_cast<std::mt19937::result_type>(std::time(nullptr)) }
	Random number generator. More...

Typedef Documentation

◆ AlignedMap

template<typename Key , typename Value >

using tesseract_common::AlignedMap = typedef std::map<Key, Value, std::less<Key>, Eigen::aligned_allocator<std::pair<const Key, Value> >>

◆ AlignedUnorderedMap

template<typename Key , typename Value >

using tesseract_common::AlignedUnorderedMap = typedef std::unordered_map<Key, Value, std::hash<Key>, std::equal_to<Key>, Eigen::aligned_allocator<std::pair<const Key, Value> >>

◆ AlignedVector

template<typename T >

using tesseract_common::AlignedVector = typedef std::vector<T, Eigen::aligned_allocator<T> >

Enable easy switching to std::filesystem when available.

◆ AllowedCollisionEntries

using tesseract_common::AllowedCollisionEntries = typedef std::unordered_map<tesseract_common::LinkNamesPair, std::string, tesseract_common::PairHash>

◆ AnyPolyBase

using tesseract_common::AnyPolyBase = typedef tesseract_common::TypeErasureBase<TypeErasureInterface, detail_any::AnyInstance>

◆ LinkNamesPair

using tesseract_common::LinkNamesPair = typedef std::pair<std::string, std::string>

◆ PairsCollisionMarginData

using tesseract_common::PairsCollisionMarginData = typedef std::unordered_map<tesseract_common::LinkNamesPair, double, tesseract_common::PairHash>

◆ PluginInfoMap

using tesseract_common::PluginInfoMap = typedef std::map<std::string, PluginInfo>

A map of PluginInfo to user defined name.

◆ SimpleResourceLocatorFn

using tesseract_common::SimpleResourceLocatorFn = typedef std::function<std::string(const std::string&)>

◆ Toolpath

using tesseract_common::Toolpath = typedef AlignedVector<VectorIsometry3d>

◆ TrajArray

using tesseract_common::TrajArray = typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>

◆ TransformMap

using tesseract_common::TransformMap = typedef AlignedMap<std::string, Eigen::Isometry3d>

◆ VectorIsometry3d

using tesseract_common::VectorIsometry3d = typedef AlignedVector<Eigen::Isometry3d>

◆ VectorVector2d

using tesseract_common::VectorVector2d = typedef AlignedVector<Eigen::Vector2d>

◆ VectorVector3d

using tesseract_common::VectorVector3d = typedef std::vector<Eigen::Vector3d>

◆ VectorVector4d

using tesseract_common::VectorVector4d = typedef AlignedVector<Eigen::Vector4d>

Enumeration Type Documentation

◆ CollisionMarginOverrideType

enum class tesseract_common::CollisionMarginOverrideType

strong

Identifies how the provided contact margin data should be applied.

Enumerator
NONE	Do not apply contact margin data.
REPLACE	Replace the contact manager's CollisionMarginData.
MODIFY	Modify the contact managers default margin and pair margins. This will preserve existing pairs not being modified by the provided margin data. If a pair already exist it will be updated with the provided margin data.
OVERRIDE_DEFAULT_MARGIN	Override the contact managers default margin only.
OVERRIDE_PAIR_MARGIN	Override the contact managers pair margin only. This does not preserve any existing pair margin data.
MODIFY_PAIR_MARGIN	Modify the contact managers pair margin only. This will preserve existing pairs not being modified by the provided margin data. If a pair already exist it will be updated with the provided margin data.

Function Documentation

◆ almostEqualRelativeAndAbs() [1/3]

bool tesseract_common::almostEqualRelativeAndAbs	(	const Eigen::Ref< const Eigen::VectorXd > &	v1,
		const Eigen::Ref< const Eigen::VectorXd > &	v2,
		const Eigen::Ref< const Eigen::VectorXd > &	max_diff,
		const Eigen::Ref< const Eigen::VectorXd > &	max_rel_diff
	)

Check if two Eigen VectorXd are relatively and absolute equal.

This is a vectorized implementation of the function above. The max_diff is for handling when comparing numbers near zero

Parameters

a	A vector of double
b	A vector of double
max_diff	The max diff when comparing max(abs(a - b)) <= max_diff, if true they are considered equal
max_rel_diff	The max relative diff abs(a - b) <= largest * max_rel_diff, if true considered equal. The largest is the largest of the absolute values of a and b.

Returns: True if they are relatively equal, otherwise false.

◆ almostEqualRelativeAndAbs() [2/3]

bool tesseract_common::almostEqualRelativeAndAbs	(	const Eigen::Ref< const Eigen::VectorXd > &	v1,
		const Eigen::Ref< const Eigen::VectorXd > &	v2,
		double	max_diff = `1e-6`,
		double	max_rel_diff = `std::numeric_limits<double>::epsilon()`
	)

Check if two Eigen VectorXd are relatively and absolute equal.

This is a vectorized implementation of the function above. The max_diff is for handling when comparing numbers near zero

Parameters

a	A vector of double
b	A vector of double
max_diff	The max diff when comparing max(abs(a - b)) <= max_diff, if true they are considered equal
max_rel_diff	The max relative diff abs(a - b) <= largest * max_rel_diff, if true considered equal. The largest is the largest of the absolute values of a and b.

Returns: True if they are relatively equal, otherwise false.

◆ almostEqualRelativeAndAbs() [3/3]

bool tesseract_common::almostEqualRelativeAndAbs	(	double	a,
		double	b,
		double	max_diff = `1e-6`,
		double	max_rel_diff = `std::numeric_limits<double>::epsilon()`
	)

Check if two double are relatively equal.

The max_diff is for handling when comparing numbers near zero

Parameters

a	Double
b	Double
max_diff	The max diff when comparing std::abs(a - b) <= max_diff, if true they are considered equal
max_rel_diff	The max relative diff std::abs(a - b) <= largest * max_rel_diff, if true considered equal. The largest is the largest of the absolute values of a and b.

Returns: True if they are relatively equal, otherwise false.

◆ calcRotationalError()

Eigen::Vector3d tesseract_common::calcRotationalError ( const Eigen::Ref< const Eigen::Matrix3d > & R )

Calculate the rotation error vector given a rotation error matrix where the angle is between [-pi, pi].

This should be used only for calculating the error. Do not use for numerically calculating jacobians because it breaks down a -PI and PI

Parameters

R	rotation error matrix

Returns: Rotation error vector = Eigen::AngleAxisd.axis() * Eigen::AngleAxisd.angle()

◆ calcRotationalError2()

Eigen::Vector3d tesseract_common::calcRotationalError2 ( const Eigen::Ref< const Eigen::Matrix3d > & R )

Calculate the rotation error vector given a rotation error matrix where the angle is between [0, 2 * pi].

This function does not break down when the angle is near zero or 2pi when calculating the numerical jacobian. This is because when using Eigen's angle axis it converts the angle to be between [0, PI] where internally if the angle is between [-PI, 0] it flips the sign of the axis. Both this function and calcRotationalError both check for this flip and reverts it. Since the angle is always between [-PI, PI], switching the range to [0, PI] will never be close to 2PI. In the case of zero, it also does not break down because we are making sure that the angle axis aligns with the quaternion axis eliminating this issue. As you can see the quaternion keeps the angle small but flips the axis so the correct delta rotation is calculated.

Angle: 0.001 results in an axis: [0, 0, 1] Angle: -0.001 results in and axis: [0, 0, -1] e1 = angle * axis = [0, 0, 0.001] e2 = angle * axis = [0, 0, -0.001] delta = e2 - e1 = [0, 0, 0.002]

This should be used when numerically calculating rotation jacobians

Parameters

R	rotation error matrix

Returns: Rotation error vector = Eigen::AngleAxisd.axis() * Eigen::AngleAxisd.angle()

◆ calcTransformError()

Eigen::VectorXd tesseract_common::calcTransformError	(	const Eigen::Isometry3d &	t1,
		const Eigen::Isometry3d &	t2
	)

Calculate error between two transforms expressed in t1 coordinate system.

Parameters

t1	Target Transform
t2	Current Transform

Returns: error [Position, Rotational(Angle Axis)]

◆ compareYAML()

bool tesseract_common::compareYAML	(	const YAML::Node &	node1,
		const YAML::Node &	node2
	)

inline

Checks if the YAML::Nodes are identical.

The == operator checks if they reference the same memory. This checks if they contain the same information

Parameters

node1	Input YAML::Node
node2	Input YAML::Node

◆ computeRandomColor()

Eigen::Vector4d tesseract_common::computeRandomColor ( )

This computes a random color RGBA [0, 1] with alpha set to 1.

Returns: A random RGBA color

◆ concat()

Eigen::VectorXd tesseract_common::concat	(	const Eigen::VectorXd &	a,
		const Eigen::VectorXd &	b
	)

Concatenate two vector.

◆ enforcePositionLimits()

template<typename FloatType >

void tesseract_common::enforcePositionLimits	(	Eigen::Ref< Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > >	joint_positions,
		const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 > > &	position_limits
	)

Enforce position to be within the provided limits.

Parameters

joint_positions	The joint position to enforce bounds on
joint_limits	The limits to perform check

◆ enforcePositionLimits< double >()

template void tesseract_common::enforcePositionLimits< double >	(	Eigen::Ref< Eigen::Matrix< double, Eigen::Dynamic, 1 > >	joint_positions,
		const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 2 > > &	position_limits
	)

◆ enforcePositionLimits< float >()

template void tesseract_common::enforcePositionLimits< float >	(	Eigen::Ref< Eigen::Matrix< float, Eigen::Dynamic, 1 > >	joint_positions,
		const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 2 > > &	position_limits
	)

◆ extractLibrariesWithFullPath()

std::set< std::string > tesseract_common::extractLibrariesWithFullPath ( std::set< std::string > & library_names )

inline

This will remove libraries with full path in the provided library_names and return them.

Parameters

library_names The set to search and remove libraries with full paths

Returns: A set of the libraries provided as full path

◆ fileToString()

std::string tesseract_common::fileToString ( const tesseract_common::fs::path & filepath )

Read in the contents of the file into a string.

Parameters

filepath The file to read

Returns: The contents of the file

◆ fromYAMLString()

YAML::Node tesseract_common::fromYAMLString ( const std::string & string )

inline

Converts yaml string to a YAML::Node.

Parameters

string Input string containing the yaml

Returns: Resulting YAML::Node

◆ generateRandomNumber()

Eigen::VectorXd tesseract_common::generateRandomNumber ( const Eigen::Ref< const Eigen::MatrixX2d > & limits )

Given a set of limits it will generate a vector of random numbers between the limit.

Parameters

limits The limits to generated numbers based on.

Returns: A vector of random numbers between the provided limits.

◆ getAllowedCollisions()

std::vector< std::string > tesseract_common::getAllowedCollisions	(	const std::vector< std::string > &	link_names,
		const AllowedCollisionEntries &	acm_entries,
		bool	remove_duplicates = `true`
	)

Gets allowed collisions for a set of link names.

Parameters

link_names	Vector of link names for which we want the allowed collisions
acm_entries	Entries in the ACM. Get this with AllowedCollisionMatrix::getAllAllowedCollisions()
remove_duplicates	If true, duplicates will be removed. Default: true

Returns: vector of links that are allowed to collide with links given

◆ getAllSearchLibraries()

std::set< std::string > tesseract_common::getAllSearchLibraries	(	const std::string &	search_libraries_env,
		const std::set< std::string > &	existing_search_libraries
	)

inline

◆ getAllSearchPaths()

std::set< std::string > tesseract_common::getAllSearchPaths	(	const std::string &	search_paths_env,
		const std::set< std::string > &	existing_search_paths
	)

inline

◆ getTempPath()

std::string tesseract_common::getTempPath ( )

Get the host temp directory path.

Returns: The host temp directory path

◆ getTimestampString()

std::string tesseract_common::getTimestampString ( )

Get Timestamp string.

Returns: Timestamp string

◆ isIdentical()

template<typename T >

bool tesseract_common::isIdentical	(	const std::vector< T > &	vec1,
		const std::vector< T > &	vec2,
		bool	ordered = `true`,
		const std::function< bool(const T &, const T &)> &	equal_pred = `[](const T& v1, const T& v2) { return v1 == v2; }`,
		const std::function< bool(const T &, const T &)> &	comp = `[](const T& v1, const T& v2) { return v1 < v2; }`
	)

Check if two vector of strings are identical.

Parameters

vec1	Vector strings
vec2	Vector strings
ordered	If true order is relavent, othwise if false order is not relavent
equal_pred	Binary predicate passed into std::equals to determine if an element is equal. Useful for vectors of pointers
comp	Binary function passed into std::sort. Only used it ordered == false. Useful for vectors of pointers

◆ isIdentical< Eigen::Index >()

template bool tesseract_common::isIdentical< Eigen::Index >	(	const std::vector< Eigen::Index > &	,
		const std::vector< Eigen::Index > &	,
		bool	,
		const std::function< bool(const Eigen::Index &, const Eigen::Index &)> &	,
		const std::function< bool(const Eigen::Index &, const Eigen::Index &)> &
	)

◆ isIdentical< std::string >()

template bool tesseract_common::isIdentical< std::string >	(	const std::vector< std::string > &	,
		const std::vector< std::string > &	,
		bool	,
		const std::function< bool(const std::string &, const std::string &)> &	,
		const std::function< bool(const std::string &, const std::string &)> &
	)

◆ isIdenticalArray()

template<typename ValueType , std::size_t Size>

bool tesseract_common::isIdenticalArray	(	const std::array< ValueType, Size > &	array_1,
		const std::array< ValueType, Size > &	array_2,
		const std::function< bool(const ValueType &, const ValueType &)> &	value_eq = `[](const ValueType& v1, const ValueType& v2) { return v1 == v2; }`
	)

Checks if 2 arrays are identical.

Parameters

array_1	First array
array_2	Second array

Returns: True if they are identical

◆ isIdenticalMap()

template<typename KeyValueContainerType , typename ValueType >

bool tesseract_common::isIdenticalMap	(	const KeyValueContainerType &	map_1,
		const KeyValueContainerType &	map_2,
		const std::function< bool(const ValueType &, const ValueType &)> &	value_eq = `[](const ValueType& v1, const ValueType& v2) { return v1 == v2; }`
	)

Checks if 2 maps are identical.

Parameters

map_1	First map
map_2	Second map

Returns: True if they are identical

◆ isIdenticalSet()

template<typename ValueType >

bool tesseract_common::isIdenticalSet	(	const std::set< ValueType > &	set_1,
		const std::set< ValueType > &	set_2,
		const std::function< bool(const ValueType &, const ValueType &)> &	value_eq = `[](const ValueType& v1, const ValueType& v2) { return v1 == v2; }`
	)

Checks if 2 sets are identical.

Parameters

map_1	First map
map_2	Second map

Returns: True if they are identical

◆ isNumeric() [1/2]

bool tesseract_common::isNumeric ( const std::string & s )

Determine if a string is a number.

Parameters

s	The string to evaluate

Returns: True if numeric, otherwise false.

◆ isNumeric() [2/2]

bool tesseract_common::isNumeric ( const std::vector< std::string > & sv )

Determine if each string in vector is a number.

Parameters

sv	The vector of strings to evaluate

Returns: True if all strings are numeric, otherwise false.

◆ isWithinPositionLimits()

template<typename FloatType >

bool tesseract_common::isWithinPositionLimits	(	const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &	joint_positions,
		const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 > > &	position_limits
	)

Check if within position limits.

Parameters

joint_positions	The joint position to check
position_limits	The joint limits to perform check

Returns

◆ isWithinPositionLimits< double >()

template bool tesseract_common::isWithinPositionLimits< double >	(	const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 > > &	joint_positions,
		const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 2 > > &	position_limits
	)

◆ isWithinPositionLimits< float >()

template bool tesseract_common::isWithinPositionLimits< float >	(	const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 > > &	joint_positions,
		const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 2 > > &	position_limits
	)

◆ jacobianChangeBase()

void tesseract_common::jacobianChangeBase	(	Eigen::Ref< Eigen::MatrixXd >	jacobian,
		const Eigen::Isometry3d &	change_base
	)

Change the base coordinate system of the jacobian.

Parameters

jacobian	The current Jacobian which gets modified in place
change_base	The transform from the desired frame to the current base frame of the jacobian

◆ jacobianChangeRefPoint()

void tesseract_common::jacobianChangeRefPoint	(	Eigen::Ref< Eigen::MatrixXd >	jacobian,
		const Eigen::Ref< const Eigen::Vector3d > &	ref_point
	)

Change the reference point of the jacobian.

Parameters

jacobian	The current Jacobian which gets modified in place
ref_point	Is expressed in the same base frame of the jacobian and is a vector from the old point to the new point.

◆ ltrim()

void tesseract_common::ltrim ( std::string & s )

Left trim string.

Parameters

s	The string to left trim

◆ makeOrderedLinkPair() [1/2]

LinkNamesPair tesseract_common::makeOrderedLinkPair	(	const std::string &	link_name1,
		const std::string &	link_name2
	)

Create a pair of strings, where the pair.first is always <= pair.second.

This is commonly used along with PairHash as the key to an unordered_map<LinkNamesPair, Type, PairHash>

Parameters

link_name1	First link name
link_name2	Second link name

Returns: LinkNamesPair a lexicographically sorted pair of strings

◆ makeOrderedLinkPair() [2/2]

void tesseract_common::makeOrderedLinkPair	(	LinkNamesPair &	pair,
		const std::string &	link_name1,
		const std::string &	link_name2
	)

Populate a pair of strings, where the pair.first is always <= pair.second.

This is used to avoid multiple memory application throughout the code base

This is commonly used along with PairHash as the key to an unordered_map<LinkNamesPair, Type, PairHash>

Parameters

pair	The link name pair to load a lexicographically sorted pair of strings
link_name1	First link name
link_name2	Second link nam

◆ my_rethrow_if_nested() [1/2]

template<typename E >

std::enable_if_t<!std::is_polymorphic< E >::value > tesseract_common::my_rethrow_if_nested ( const E & )

◆ my_rethrow_if_nested() [2/2]

template<typename E >

std::enable_if_t< std::is_polymorphic< E >::value > tesseract_common::my_rethrow_if_nested ( const E & e )

◆ operator==()

bool tesseract_common::operator==	(	const AllowedCollisionEntries &	entries_1,
		const AllowedCollisionEntries &	entries_2
	)

◆ parseEnvironmentVariableList()

std::set< std::string > tesseract_common::parseEnvironmentVariableList ( const std::string & env_variable )

inline

◆ pointersComparison()

template<typename T >

bool tesseract_common::pointersComparison	(	const std::shared_ptr< T > &	p1,
		const std::shared_ptr< T > &	p2
	)

Comparison operator for the objects 2 points point to.

Parameters

p1	First pointer
p2	Second pointer

Returns: True if *p1 < *p2 and neither is nullptr. Non-nullptr is considered > than nullptr

◆ pointersEqual()

template<typename T >

bool tesseract_common::pointersEqual	(	const std::shared_ptr< T > &	p1,
		const std::shared_ptr< T > &	p2
	)

Checks if 2 pointers point to objects that are ==.

Parameters

p1	First pointer
p2	Second pointer

Returns: True if the objects are == or both pointers are nullptr

◆ printNestedException()

void tesseract_common::printNestedException	(	const std::exception &	e,
		int	level = `0`
	)

Print a nested exception.

Parameters

e	The exception to print
level	The exception level which controls the indentation

◆ QueryDoubleAttributeRequired()

tinyxml2::XMLError tesseract_common::QueryDoubleAttributeRequired	(	const tinyxml2::XMLElement *	xml_element,
		const char *	name,
		double &	value
	)

Query a double attribute from an xml element and print error log.

This is the same QueryDoubleAttribute but it will print out error messages for the failure conditions so the user only needs to check for the tinyxml2::XML_SUCCESS since it is a required attribute.

Parameters

xml_element	The xml attribute to query attribute
name	The name of the attribute to query
value	The value to update from the xml attribute

Returns: tinyxml2::XML_SUCCESS if successful, otherwise returns tinyxml2::XML_NO_ATTRIBUTE or tinyxml2::XML_WRONG_ATTRIBUTE_TYPE

◆ QueryIntAttributeRequired()

tinyxml2::XMLError tesseract_common::QueryIntAttributeRequired	(	const tinyxml2::XMLElement *	xml_element,
		const char *	name,
		int &	value
	)

Query a int attribute from an xml element and print error log.

This is the same QueryIntAttribute but it will print out error messages for the failure conditions so the user only needs to check for the tinyxml2::XML_SUCCESS since it is a required attribute.

Parameters

xml_element	The xml attribute to query attribute
name	The name of the attribute to query
value	The value to update from the xml attribute

Returns: tinyxml2::XML_SUCCESS if successful, otherwise returns tinyxml2::XML_NO_ATTRIBUTE or tinyxml2::XML_WRONG_ATTRIBUTE_TYPE

◆ QueryStringAttribute()

tinyxml2::XMLError tesseract_common::QueryStringAttribute	(	const tinyxml2::XMLElement *	xml_element,
		const char *	name,
		std::string &	value
	)

Query a string attribute from an xml element.

Parameters

xml_element	The xml attribute to query attribute
name	The name of the attribute to query
value	The value to update from the xml attribute

Returns: tinyxml2::XML_SUCCESS if successful, otherwise returns tinyxml2::XML_NO_ATTRIBUTE or tinyxml2::XML_WRONG_ATTRIBUTE_TYPE

◆ QueryStringAttributeRequired()

tinyxml2::XMLError tesseract_common::QueryStringAttributeRequired	(	const tinyxml2::XMLElement *	xml_element,
		const char *	name,
		std::string &	value
	)

Query a string attribute from an xml element and print error log.

This is the same QueryStringAttribute but it will print out error messages for the failure conditions so the user only needs to check for the tinyxml2::XML_SUCCESS since it is a required attribute.

Parameters

xml_element	The xml attribute to query attribute
name	The name of the attribute to query
value	The value to update from the xml attribute

Returns: tinyxml2::XML_SUCCESS if successful, otherwise returns tinyxml2::XML_NO_ATTRIBUTE or tinyxml2::XML_WRONG_ATTRIBUTE_TYPE

◆ QueryStringText()

tinyxml2::XMLError tesseract_common::QueryStringText	(	const tinyxml2::XMLElement *	xml_element,
		std::string &	text
	)

Query a string Text from xml element.

Parameters

xml_element	The xml element to query string from
test	The value to update from the xml element

Returns: tinyxml2::XML_SUCCESS if successful, otherwise returns tinyxml2::XML_NO_ATTRIBUTE

◆ QueryStringValue() [1/2]

tinyxml2::XMLError tesseract_common::QueryStringValue	(	const tinyxml2::XMLAttribute *	xml_attribute,
		std::string &	value
	)

Query a string value from xml attribute.

Parameters

xml_attribute	The xml attribute to query string from
value	The value to update from the xml attribute

Returns: tinyxml2::XML_SUCCESS if successful, otherwise returns tinyxml2::XML_WRONG_ATTRIBUTE_TYPE

◆ QueryStringValue() [2/2]

tinyxml2::XMLError tesseract_common::QueryStringValue	(	const tinyxml2::XMLElement *	xml_element,
		std::string &	value
	)

Query a string value from xml element.

Parameters

xml_element	The xml element to query string from
value	The value to update from the xml element

Returns: tinyxml2::XML_SUCCESS if successful, otherwise returns tinyxml2::XML_NO_ATTRIBUTE

◆ reorder()

void tesseract_common::reorder	(	Eigen::Ref< Eigen::VectorXd >	v,
		std::vector< Eigen::Index >	order
	)

Reorder Eigen::VectorXd implace given index list.

Parameters

v	The vector to reorder
order	A vector of index which define the new order

◆ rtrim()

void tesseract_common::rtrim ( std::string & s )

Right trim string.

Parameters

s	The string to right trim

◆ satisfiesPositionLimits() [1/2]

template<typename FloatType >

bool tesseract_common::satisfiesPositionLimits	(	const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &	joint_positions,
		const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 > > &	position_limits,
		const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &	max_diff,
		const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &	max_rel_diff
	)

Check if joint position is within bounds or relatively equal to a limit.

Parameters

joint_positions	The joint position to check
joint_limits	The joint limits to perform check
max_diff	The max diff when comparing position to limit value max(abs(position - limit)) <= max_diff, if true they are considered equal
max_rel_diff	The max relative diff between position and limit abs(position - limit) <= largest * max_rel_diff, if true considered equal. The largest is the largest of the absolute values of position and limit.

Returns: True if the all position are within the limits or relatively equal to the limit, otherwise false.

◆ satisfiesPositionLimits() [2/2]

template<typename FloatType >

bool tesseract_common::satisfiesPositionLimits	(	const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &	joint_positions,
		const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 > > &	position_limits,
		FloatType	max_diff = `static_cast<FloatType>(1e-6)`,
		FloatType	max_rel_diff = `std::numeric_limits<FloatType>::epsilon()`
	)

Check if joint position is within bounds or relatively equal to a limit.

Parameters

joint_positions	The joint position to check
joint_limits	The joint limits to perform check
max_diff	The max diff when comparing position to limit value max(abs(position - limit)) <= max_diff, if true they are considered equal
max_rel_diff	The max relative diff between position and limit abs(position - limit) <= largest * max_rel_diff, if true considered equal. The largest is the largest of the absolute values of position and limit.

Returns: True if the all position are within the limits or relatively equal to the limit, otherwise false.

◆ satisfiesPositionLimits< double >() [1/2]

template bool tesseract_common::satisfiesPositionLimits< double >	(	const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 > > &	joint_positions,
		const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 2 > > &	position_limits,
		const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 > > &	max_diff,
		const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 > > &	max_rel_diff
	)

◆ satisfiesPositionLimits< double >() [2/2]

template bool tesseract_common::satisfiesPositionLimits< double >	(	const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1 > > &	joint_positions,
		const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 2 > > &	position_limits,
		double	max_diff,
		double	max_rel_diff
	)

◆ satisfiesPositionLimits< float >() [1/2]

template bool tesseract_common::satisfiesPositionLimits< float >	(	const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 > > &	joint_positions,
		const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 2 > > &	position_limits,
		const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 > > &	max_diff,
		const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 > > &	max_rel_diff
	)

◆ satisfiesPositionLimits< float >() [2/2]

template bool tesseract_common::satisfiesPositionLimits< float >	(	const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 1 > > &	joint_positions,
		const Eigen::Ref< const Eigen::Matrix< float, Eigen::Dynamic, 2 > > &	position_limits,
		float	max_diff,
		float	max_rel_diff
	)

◆ strFormat()

template<typename... Args>

std::string tesseract_common::strFormat	(	const std::string &	format,
		Args...	args
	)

◆ StringAttribute()

std::string tesseract_common::StringAttribute	(	const tinyxml2::XMLElement *	xml_element,
		const char *	name,
		std::string	default_value
	)

Get string attribute if exist. If it does not exist it returns the default value.

Parameters

xml_element	The xml element to attempt to parse attribute
name	The name of the attribute
default_value	The default value to return if attribute does not exist

Returns: Parsed string attribute or default value if attribute does not exist.

◆ testSerialization()

template<typename SerializableType >

void tesseract_common::testSerialization	(	const SerializableType &	object,
		const std::string &	typename_string
	)

Tests Boost serialization for a serializable type.

Serializes the type to XML file, binary file, and XML string. It then deserializes it and calls the equality operator on the results

Parameters

object	Object to be serialized
typename_string	Prefix used for filepaths. Serialized files are put in /tmp/<typename_string>.<extension>

◆ testSerializationDerivedClass()

template<typename SerializableTypeBase , typename SerializableTypeDerived >

void tesseract_common::testSerializationDerivedClass	(	const std::shared_ptr< SerializableTypeBase > &	object,
		const std::string &	typename_string
	)

Tests Boost serialization for a serializable derived type.

Serializes the type to XML file, binary file, and XML string using the base type. It then deserializes it, casts it to the derived type, and calls the equality operator on the results

Parameters

object	Base class pointer to the object to be serialized
typename_string	Prefix used for filepaths. Serialized files are put in /tmp/<typename_string>.<extension>

◆ testSerializationPtr()

template<typename SerializableType >

void tesseract_common::testSerializationPtr	(	const std::shared_ptr< SerializableType > &	object,
		const std::string &	typename_string
	)

Tests Boost serialization of shared pointer for a serializable type.

Serializes the type to XML file, binary file, and XML string. It then deserializes it and calls the equality operator on the results

Parameters

object	Object to be serialized
typename_string	Prefix used for filepaths. Serialized files are put in /tmp/<typename_string>.<extension>

◆ toNumeric()

template<typename FloatType >

bool tesseract_common::toNumeric	(	const std::string &	s,
		FloatType &	value
	)

Convert a string to a numeric value type.

Parameters

s	The string to be converted
value	The value to be loaded with converted string

Returns: True if successful, otherwise false

◆ toNumeric< double >()

template bool tesseract_common::toNumeric< double >	(	const std::string &	,
		double &
	)

◆ toNumeric< float >()

template bool tesseract_common::toNumeric< float >	(	const std::string &	,
		float &
	)

◆ toNumeric< int >()

template bool tesseract_common::toNumeric< int >	(	const std::string &	,
		int &
	)

◆ toNumeric< long >()

template bool tesseract_common::toNumeric< long >	(	const std::string &	,
		long &
	)

◆ toYAMLString()

std::string tesseract_common::toYAMLString ( const YAML::Node & node )

inline

Converts a YAML::Node to a yaml string.

Parameters

node	Input node

Returns: String containing the yaml

◆ trim()

void tesseract_common::trim ( std::string & s )

Trim left and right of string.

Parameters

s	The string to trim

◆ twistChangeBase()

void tesseract_common::twistChangeBase	(	Eigen::Ref< Eigen::VectorXd >	twist,
		const Eigen::Isometry3d &	change_base
	)

Change the base coordinate system of the Twist.

Parameters

twist	The current Twist which gets modified in place
change_base	The transform from the desired frame to the current base frame of the Twist

◆ twistChangeRefPoint()

void tesseract_common::twistChangeRefPoint	(	Eigen::Ref< Eigen::VectorXd >	twist,
		const Eigen::Ref< const Eigen::Vector3d > &	ref_point
	)

Change the reference point of the provided Twist.

Parameters

twist	The current Twist which gets modified in place
ref_point	Is expressed in the same base frame of the Twist and is a vector from the old point to the new point.

Variable Documentation

◆ mersenne

std::mt19937 tesseract_common::mersenne { static_cast<std::mt19937::result_type>(std::time(nullptr)) }

static

Random number generator.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ AlignedMap

◆ AlignedUnorderedMap

◆ AlignedVector

◆ AllowedCollisionEntries

◆ AnyPolyBase

◆ LinkNamesPair

◆ PairsCollisionMarginData

◆ PluginInfoMap

◆ SimpleResourceLocatorFn

◆ Toolpath

◆ TrajArray

◆ TransformMap

◆ VectorIsometry3d

◆ VectorVector2d

◆ VectorVector3d

◆ VectorVector4d

Enumeration Type Documentation

◆ CollisionMarginOverrideType

Function Documentation

◆ almostEqualRelativeAndAbs() [1/3]

◆ almostEqualRelativeAndAbs() [2/3]

◆ almostEqualRelativeAndAbs() [3/3]

◆ calcRotationalError()

◆ calcRotationalError2()

◆ calcTransformError()

◆ compareYAML()

◆ computeRandomColor()

◆ concat()

◆ enforcePositionLimits()

◆ enforcePositionLimits< double >()

◆ enforcePositionLimits< float >()

◆ extractLibrariesWithFullPath()

◆ fileToString()

◆ fromYAMLString()

◆ generateRandomNumber()

◆ getAllowedCollisions()

◆ getAllSearchLibraries()

◆ getAllSearchPaths()

◆ getTempPath()

◆ getTimestampString()

◆ isIdentical()

◆ isIdentical< Eigen::Index >()

◆ isIdentical< std::string >()

◆ isIdenticalArray()

◆ isIdenticalMap()

◆ isIdenticalSet()

◆ isNumeric() [1/2]

◆ isNumeric() [2/2]

◆ isWithinPositionLimits()

◆ isWithinPositionLimits< double >()

◆ isWithinPositionLimits< float >()

◆ jacobianChangeBase()

◆ jacobianChangeRefPoint()

◆ ltrim()

◆ makeOrderedLinkPair() [1/2]

◆ makeOrderedLinkPair() [2/2]

◆ my_rethrow_if_nested() [1/2]

◆ my_rethrow_if_nested() [2/2]

◆ operator==()

◆ parseEnvironmentVariableList()

◆ pointersComparison()

◆ pointersEqual()

◆ printNestedException()

◆ QueryDoubleAttributeRequired()

◆ QueryIntAttributeRequired()

◆ QueryStringAttribute()

◆ QueryStringAttributeRequired()

◆ QueryStringText()

◆ QueryStringValue() [1/2]

◆ QueryStringValue() [2/2]

◆ reorder()

◆ rtrim()

◆ satisfiesPositionLimits() [1/2]